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GPS driver for MD-3x0 targets

replace/418829b832f4ff442b5f82adb1c2ab0300f5750f
Silvano Seva 2021-02-04 09:57:43 +01:00
rodzic 7192659899
commit 9b9c521459
5 zmienionych plików z 341 dodań i 107 usunięć
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2
meson.build
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@ -35,6 +35,7 @@ openrtx_inc = ['openrtx/include',
'openrtx/include/calibration',
'platform/drivers/ADC',
'platform/drivers/NVM',
'platform/drivers/GPS',
'platform/drivers/tones',
'openrtx/include/fonts/adafruit',
'platform/drivers/tones',
@ -199,6 +200,7 @@ md3x0_src = src + stm32f405_src + ['platform/drivers/display/HX8353_MDx.c',
'platform/drivers/baseband/SKY72310.c',
'platform/drivers/baseband/radio_MD3x0.c',
'platform/drivers/baseband/HR_C5000.c',
'platform/drivers/GPS/GPS_MDx.c',
'platform/targets/MD-3x0/platform.c']
md3x0_inc = inc + stm32f405_inc + ['platform/targets/MD-3x0']

69
platform/drivers/GPS/GPS.h 100644
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@ -0,0 +1,69 @@
/***************************************************************************
* Copyright (C) 2021 by Federico Amedeo Izzo IU2NUO, *
* Niccolò Izzo IU2KIN *
* Frederik Saraci IU2NRO *
* Silvano Seva IU2KWO *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, see <http://www.gnu.org/licenses/> *
***************************************************************************/
#ifndef GPS_H
#define GPS_H
#include <stdbool.h>
#include <stdint.h>
/**
* Low-level driver for interfacing with radio's on-board GPS module.
*/
/**
* Initialise the GPS driver.
* This function does not turn on the GPS module.
* @param baud: baud rate of GPS serial interface.
*/
void gps_init(const uint16_t baud);
/**
* Shut down the GPS module and terminate the GPS driver.
*/
void gps_terminate();
/**
* Turn on the GPS module.
*/
void gps_enable();
/**
* Turn off GPS module.
*/
void gps_disable();
/**
* Detect if a GPS module is present in the system, it can be called also
* when driver is not initialised.
* @param timeout: timeout for GPS detection, in milliseconds.
* @return true if a GPS module is present, false otherwise.
*/
bool gps_detect(uint16_t timeout);
/**
* Read a NMEA sentence from the GPS module, blocking function.
* @param buf: buffer to which the NMEA sentence is written.
* @param maxLength: maximum writable length inside the buffer.
* @return number of characters written in the buffer or -1 on error.
*/
int gps_getNmeaSentence(char *buf, const size_t maxLength);
#endif /* GPS_H */

173
platform/drivers/GPS/GPS_MDx.c 100644
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@ -0,0 +1,173 @@
/***************************************************************************
* Copyright (C) 2021 by Federico Amedeo Izzo IU2NUO, *
* Niccolò Izzo IU2KIN *
* Frederik Saraci IU2NRO *
* Silvano Seva IU2KWO *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, see <http://www.gnu.org/licenses/> *
***************************************************************************/
#include <interfaces/delays.h>
#include <interfaces/gpio.h>
#include <hwconfig.h>
#include <string.h>
#include <os.h>
#include "GPS.h"
static int8_t detectStatus = -1;
size_t bufPos = 0;
size_t maxPos = 0;
char *dataBuf;
bool receiving = false;
OS_FLAG_GRP sentenceReady;
OS_ERR err;
void __attribute__((used)) USART3_IRQHandler()
{
if(USART3->SR & USART_SR_RXNE)
{
char value = USART3->DR;
if((receiving == false) && (value == '$') && (bufPos == 0))
{
receiving = true;
}
if(receiving)
{
if(bufPos == maxPos)
{
receiving = false;
}
char prevChar = dataBuf[bufPos - 1];
dataBuf[bufPos] = value;
bufPos += 1;
if((prevChar == '\r') && (value == '\n'))
{
receiving = false;
bufPos -= 1;
}
}
if((receiving == false) && (bufPos != 0))
{
uint8_t flag = (bufPos < maxPos) ? 0x01 : 0x02;
OSFlagPost(&sentenceReady, flag, OS_OPT_POST_FLAG_SET, &err);
}
}
USART3->SR = 0;
}
void gps_init(const uint16_t baud)
{
gpio_setMode(GPS_EN, OUTPUT);
gpio_setMode(GPS_DATA, ALTERNATE);
gpio_setAlternateFunction(GPS_DATA, 7);
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
__DSB();
const unsigned int quot = 2*42000000/baud;
USART3->BRR = quot/2 + (quot & 1);
USART3->CR3 |= USART_CR3_ONEBIT;
USART3->CR1 = USART_CR1_RE
| USART_CR1_RXNEIE;
NVIC_ClearPendingIRQ(USART3_IRQn);
NVIC_SetPriority(USART3_IRQn, 14);
OSFlagCreate(&sentenceReady, "", 0, &err);
}
void gps_terminate()
{
OSFlagDel(&sentenceReady, OS_OPT_DEL_NO_PEND, &err);
gps_disable();
RCC->APB1ENR &= ~RCC_APB1ENR_USART3EN;
}
void gps_enable()
{
gpio_setPin(GPS_EN);
USART3->CR1 |= USART_CR1_UE;
}
void gps_disable()
{
gpio_clearPin(GPS_EN);
USART3->CR1 &= ~USART_CR1_UE;
NVIC_DisableIRQ(USART3_IRQn);
}
bool gps_detect(uint16_t timeout)
{
if(detectStatus == -1)
{
gpio_setMode(GPS_DATA, INPUT_PULL_DOWN);
gpio_setMode(GPS_EN, OUTPUT);
gpio_setPin(GPS_EN);
while((gpio_readPin(GPS_DATA) == 0) && (timeout > 0))
{
delayMs(1);
timeout--;
}
gpio_clearPin(GPS_EN);
gpio_setMode(GPS_EN, INPUT);
if(timeout > 0)
{
detectStatus = 1;
}
else
{
detectStatus = 0;
}
}
return (detectStatus == 1) ? true : false;
}
int gps_getNmeaSentence(char *buf, const size_t maxLength)
{
if(detectStatus != 1) return -1;
memset(buf, 0x00, maxLength);
bufPos = 0;
maxPos = 0;
dataBuf = buf;
NVIC_EnableIRQ(USART3_IRQn);
OS_FLAGS status = OSFlagPend(&sentenceReady, 0x03, 0,
OS_OPT_PEND_FLAG_SET_ANY |
OS_OPT_PEND_FLAG_CONSUME |
OS_OPT_PEND_BLOCKING, NULL, &err);
NVIC_DisableIRQ(USART3_IRQn);
if(status & 0x01)
{
return bufPos;
}
return -1;
}

4
platform/targets/MD-3x0/hwconfig.h
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@ -138,4 +138,8 @@
#define FM_MUTE GPIOE,13
#define MIC_PWR GPIOA,14
/* GPS, for the devices who have it */
#define GPS_EN GPIOD,8
#define GPS_DATA GPIOD,9
#endif

200
tests/platform/gps_test_MDx.c
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@ -25,9 +25,7 @@
#include <stdio.h>
#include <hwconfig.h>
#include <minmea.h>
#define GPS_EN GPIOD,8
#define GPS_DATA GPIOD,9
#include <GPS.h>
char line[MINMEA_MAX_LENGTH*10];
@ -35,116 +33,104 @@ int main()
{
platform_init();
gpio_setMode(GPS_EN, OUTPUT);
gpio_setMode(GPS_DATA, INPUT_PULL_DOWN);
printf("Checking for GPS... ");
bool hasGps = gps_detect(5000);
printf(" %s.\r\n", hasGps ? "OK" : "TIMEOUT");
gpio_setPin(GPS_EN);
gps_init(9600);
gps_enable();
uint8_t elapsedTime = 0;
printf("Waiting for GPS_DATA to rise");
while((gpio_readPin(GPS_DATA) == 0) && (elapsedTime < 20))
{
printf(".");
elapsedTime += 1;
delayMs(500);
}
printf(" %s.\r\n", elapsedTime < 20 ? "OK" : "TIMEOUT");
gpio_setMode(GPS_DATA, ALTERNATE);
gpio_setAlternateFunction(GPS_DATA, 7);
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
__DSB();
const unsigned int quot = 2*42000000/9600;
USART3->BRR = quot/2 + (quot & 1);
USART3->CR3 |= USART_CR3_ONEBIT;
USART3->CR1 = USART_CR1_UE
| USART_CR1_RE;
int i = 0;
while(1)
{
while((USART3->SR & USART_SR_RXNE) == 0) ;
line[i++] = USART3->DR;
// If a NMEA sentence is complete
if (line[i - 1] == '\n') {
line[i] = '\0';
printf("%s\n\r", line);
switch (minmea_sentence_id(line, false)) {
case MINMEA_SENTENCE_RMC:
{
struct minmea_sentence_rmc frame;
if (minmea_parse_rmc(&frame, line)) {
printf("$RMC: raw coordinates and speed: (%d/%d,%d/%d) %d/%d\n\r",
frame.latitude.value, frame.latitude.scale,
frame.longitude.value, frame.longitude.scale,
frame.speed.value, frame.speed.scale);
printf("$RMC fixed-point coordinates and speed scaled to three decimal places: (%d,%d) %d\n\r",
minmea_rescale(&frame.latitude, 1000),
minmea_rescale(&frame.longitude, 1000),
minmea_rescale(&frame.speed, 1000));
printf("$RMC floating point degree coordinates and speed: (%f,%f) %f\n\r",
minmea_tocoord(&frame.latitude),
minmea_tocoord(&frame.longitude),
minmea_tofloat(&frame.speed));
}
} break;
case MINMEA_SENTENCE_GGA:
{
struct minmea_sentence_gga frame;
if (minmea_parse_gga(&frame, line)) {
printf("$GGA: fix quality: %d\n\r", frame.fix_quality);
}
} break;
case MINMEA_SENTENCE_GSV:
{
struct minmea_sentence_gsv frame;
if (minmea_parse_gsv(&frame, line)) {
printf("$GSV: message %d of %d\n\r", frame.msg_nr, frame.total_msgs);
printf("$GSV: satellites in view: %d\n\r", frame.total_sats);
for (int i = 0; i < 4; i++)
printf("$GSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n\r",
frame.sats[i].nr,
frame.sats[i].elevation,
frame.sats[i].azimuth,
frame.sats[i].snr);
}
} break;
case MINMEA_SENTENCE_VTG:
{
} break;
// Ignore this message as we take data from RMC
case MINMEA_SENTENCE_GLL:
;
break;
// These messages are never sent by the Jumpstar JS-M710 Module
case MINMEA_SENTENCE_GSA: break;
case MINMEA_SENTENCE_GST: break;
case MINMEA_SENTENCE_ZDA: break;
// Error handling
case MINMEA_INVALID:
{
printf("Error: Invalid NMEA sentence!\n\r");
} break;
case MINMEA_UNKNOWN:
{
printf("Error: Unsupported NMEA sentence!\n\r");
} break;
}
i = 0;
int len = gps_getNmeaSentence(line, MINMEA_MAX_LENGTH*10);
if(len != -1)
{
printf("Got sentence with length %d:\r\n", len);
printf("%s\r\n", line);
}
}
// int i = 0;
// while(1)
// {
// while((USART3->SR & USART_SR_RXNE) == 0) ;
// line[i++] = USART3->DR;
// // If a NMEA sentence is complete
// if (line[i - 1] == '\n') {
// line[i] = '\0';
// printf("%s\n\r", line);
// switch (minmea_sentence_id(line, false)) {
// case MINMEA_SENTENCE_RMC:
// {
// struct minmea_sentence_rmc frame;
// if (minmea_parse_rmc(&frame, line)) {
// printf("$RMC: raw coordinates and speed: (%d/%d,%d/%d) %d/%d\n\r",
// frame.latitude.value, frame.latitude.scale,
// frame.longitude.value, frame.longitude.scale,
// frame.speed.value, frame.speed.scale);
// printf("$RMC fixed-point coordinates and speed scaled to three decimal places: (%d,%d) %d\n\r",
// minmea_rescale(&frame.latitude, 1000),
// minmea_rescale(&frame.longitude, 1000),
// minmea_rescale(&frame.speed, 1000));
// printf("$RMC floating point degree coordinates and speed: (%f,%f) %f\n\r",
// minmea_tocoord(&frame.latitude),
// minmea_tocoord(&frame.longitude),
// minmea_tofloat(&frame.speed));
// }
// } break;
//
// case MINMEA_SENTENCE_GGA:
// {
// struct minmea_sentence_gga frame;
// if (minmea_parse_gga(&frame, line)) {
// printf("$GGA: fix quality: %d\n\r", frame.fix_quality);
// }
// } break;
//
// case MINMEA_SENTENCE_GSV:
// {
// struct minmea_sentence_gsv frame;
// if (minmea_parse_gsv(&frame, line)) {
// printf("$GSV: message %d of %d\n\r", frame.msg_nr, frame.total_msgs);
// printf("$GSV: satellites in view: %d\n\r", frame.total_sats);
// for (int i = 0; i < 4; i++)
// printf("$GSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n\r",
// frame.sats[i].nr,
// frame.sats[i].elevation,
// frame.sats[i].azimuth,
// frame.sats[i].snr);
// }
// } break;
//
// case MINMEA_SENTENCE_VTG:
// {
//
// } break;
//
// // Ignore this message as we take data from RMC
// case MINMEA_SENTENCE_GLL:
// ;
// break;
//
// // These messages are never sent by the Jumpstar JS-M710 Module
// case MINMEA_SENTENCE_GSA: break;
// case MINMEA_SENTENCE_GST: break;
// case MINMEA_SENTENCE_ZDA: break;
//
// // Error handling
// case MINMEA_INVALID:
// {
// printf("Error: Invalid NMEA sentence!\n\r");
// } break;
//
// case MINMEA_UNKNOWN:
// {
// printf("Error: Unsupported NMEA sentence!\n\r");
// } break;
// }
// i = 0;
// }
// }
return 0;
}